Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators
This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strateg...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2011/652785 |
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| _version_ | 1832559169348042752 |
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| author | Yassine Bouteraa Jawhar Ghommam Gérard Poisson Nabil Derbel |
| author_facet | Yassine Bouteraa Jawhar Ghommam Gérard Poisson Nabil Derbel |
| author_sort | Yassine Bouteraa |
| collection | DOAJ |
| description | This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements
while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination. |
| format | Article |
| id | doaj-art-c80a132192244aeea6769141634db877 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-c80a132192244aeea6769141634db8772025-02-03T01:30:40ZengWileyJournal of Robotics1687-96001687-96192011-01-01201110.1155/2011/652785652785Distributed Synchronization Control to Trajectory Tracking of Multiple Robot ManipulatorsYassine Bouteraa0Jawhar Ghommam1Gérard Poisson2Nabil Derbel3Research Unit on Intelligent Control, Design & Optimization of Complex Systems, University of Sfax, Sfax Engineering School, BP W, Sfax 3038, TunisiaResearch Unit on Intelligent Control, Design & Optimization of Complex Systems, University of Sfax, Sfax Engineering School, BP W, Sfax 3038, TunisiaLaboratoire Prisme-Pôle IRAuS, Université d’ Orléans, 63 Avenue de Lattre de Tassigny, 18020 Bourges Cedex, FranceResearch Unit on Intelligent Control, Design & Optimization of Complex Systems, University of Sfax, Sfax Engineering School, BP W, Sfax 3038, TunisiaThis paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.http://dx.doi.org/10.1155/2011/652785 |
| spellingShingle | Yassine Bouteraa Jawhar Ghommam Gérard Poisson Nabil Derbel Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators Journal of Robotics |
| title | Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators |
| title_full | Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators |
| title_fullStr | Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators |
| title_full_unstemmed | Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators |
| title_short | Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators |
| title_sort | distributed synchronization control to trajectory tracking of multiple robot manipulators |
| url | http://dx.doi.org/10.1155/2011/652785 |
| work_keys_str_mv | AT yassinebouteraa distributedsynchronizationcontroltotrajectorytrackingofmultiplerobotmanipulators AT jawharghommam distributedsynchronizationcontroltotrajectorytrackingofmultiplerobotmanipulators AT gerardpoisson distributedsynchronizationcontroltotrajectorytrackingofmultiplerobotmanipulators AT nabilderbel distributedsynchronizationcontroltotrajectorytrackingofmultiplerobotmanipulators |